Location based wireless pet containment system using single base unit

1. A device comprising, a base unit including at least three transceivers located on a printed circuit board assembly, wherein the at least three transceivers are communicatively coupled with at least one processor of the base unit, wherein the base unit comprises a clock that synchronizes communications of the at least three transceivers, wherein each transceiver of the at least three transceivers comprises an upper surface antenna extending from an upper surface of the printed circuit board assembly and a lower surface antenna extending from a lower surface of the printed circuit board assembly, wherein a location of each upper surface antenna on an upper surface of the printed circuit board assembly is mirrored by a location of the corresponding lower surface antenna on the lower surface of the printed circuit board assembly; each transceiver of the at least three transceivers configured to transmit a communication to a transceiver remote to the base unit, wherein the at least one processor is configured to instruct a first transceiver of the at least three transceivers to transmit at least one communication to the remote transceiver; each transceiver of the at least three transceivers configured to receive return communications from the remote transceiver in response to the at least one communication through at least one of the corresponding upper surface antenna and the corresponding lower surface antenna; the at least one processor configured to use information of the return communications to determine a first time of flight, wherein the first time of flight comprises the time elapsed between transmission of a return communication of the return communications and the receiving of the return communication by the first transceiver; the at least one processor configured to use the first time of flight to determine a first distance between the first transceiver and the remote transceiver; the at least one processor configured to use the clock to determine a time difference of arrival between the first transceiver receiving the return communication, a second transceiver of the at least three transceivers receiving the return communication, and a third transceiver of the at least three transceivers receiving the return communication, wherein the first transceiver, the second transceiver, and the third transceiver comprise a triangle; the at least one processor configured to determine an angular value using information of the time difference of arrival, the relative positioning of the first transceiver, the second transceiver, and the third transceiver, and signal transmission speed of the return communication, wherein the angular value comprises an angle between a reference direction and an axis, wherein the angular value and the first distance approximate a location of the remote transceiver.

2. The device of claim 1 , wherein the triangle comprises an equilateral triangle.

3. The device of claim 2 , wherein sides of the equilateral triangle are equal to or less than 20 cm.

4. The device of claim 1 , wherein the printed circuit board assembly occupies a plane approximately parallel to ground.

5. The device of claim 1 , wherein each upper surface antenna extends 35 mm from the upper surface of the printed circuit board assembly.

6. The device of claim 1 , wherein each lower surface antenna extends 35 mm from the lower surface of the printed circuit board assembly.

7. The device of claim 1 , wherein each transceiver of the at least three transceivers is located between the corresponding upper surface antenna and the corresponding lower surface antenna.

8. The device of claim 1 , wherein each transceiver comprises a radio frequency switch (RF switch), wherein each RF switch comprises a radio frequency flag position (RF flag position), wherein the RF flag position comprises either an upper position or lower position.

9. The device of claim 8 , the receiving the return communications including each transceiver receiving the return communications from the corresponding upper surface antenna when the corresponding RF flag position is set to the upper position.

10. The device of claim 9 , the receiving the return communications including each transceiver receiving the return communications from the corresponding lower surface antenna when the corresponding RF flag position is set to the lower position.

11. The device of claim 10 , the at least one processor configured to monitor signal quality of the return communications received through the upper surface antenna and the corresponding lower surface antenna for each transceiver of the at least three transceivers.

12. The device of claim 11 , the at least one processor configured to independently set the RF flag position for each transceiver of the at least three transceivers to the upper position when the signal quality of the return communications received through the corresponding upper surface antenna is greater than the signal quality of the return communications received through the corresponding lower surface antenna.

13. The device of claim 12 , the at least one processor configured to independently set the RF flag position for each transceiver of the at least three transceivers to the lower position when the signal quality of the return communications received through the corresponding lower surface antenna is greater than the signal quality of the return communications received through the corresponding upper surface antenna.

14. The device of claim 11 , the at least one processor configured to uniformly set all RF flag positions of all transceivers of the at least three transceivers to either the upper position or the lower position.

15. The device of claim 14 , the at least one processor configured to toggle the RF flag position for all transceivers of the at least three transceivers when signal quality of the return communications received through currently selected antennas fall below a threshold value for a defined number of transceivers.

16. The device of claim 1 , the at least one processor configured to determine the time difference of arrival using the difference in phase of a carrier signal of the return communication among the first transceiver, the second transceiver, and the third transceiver.

17. The device of claim 1 , wherein the reference direction comprises a fixed unit vector originating at a vertex of the triangle and extending along a side of the triangle.

18. The device of claim 17 , wherein the vertices of the triangle define a plane, wherein a plurality of quadrants partition the plane into radial segments extending from the base unit.

19. The device of claim 18 , wherein the information of the time difference of arrival comprises an order of reception between the initial two transceivers of the first transceiver, the second transceiver, and the third transceiver receiving the return communication.

20. The device of claim 19 , the determining the angular value including using the order of reception between the initial two transceivers to locate the remote transceiver in a quadrant of the plurality of quadrants.

21. The device of claim 20 , the determining the angular value including constructing a right triangle, wherein the initial two transceivers comprise vertices of the right triangle, wherein a first side of the right triangle is oriented in a direction of the remote transceiver in the quadrant, wherein a second side comprises a line between the initial two transceivers.

22. The device of claim 21 , the determining the angular value including determining a first length of the first side using the signal transmission speed and the time difference of arrival between the initial two transceivers receiving the return communication.

23. The device of claim 22 , wherein a second length comprises a length of the second side.

24. The device of claim 23 , the determining the angular value comprising determining the angular value using the first length, the second length, and information of the quadrant.

25. The device of claim 1 , wherein the remote transceiver is communicatively coupled with a stimulus unit positioned in a collar worn by an animal.

26. The device of claim 25 , the at least one processor configured to identify at least one instruction using the first distance and the angular value.

27. The device of claim 26 , the at least one instruction including logging the first distance and the angular value.

28. The device of claim 27 , the identifying the at least one instruction including transmitting the at least one instruction to the remote transceiver.

29. The device of claim 28 , the at least one instruction including an instruction to apply a positive stimulus.

30. The device of claim 29 , the at least one instruction including an instruction to apply a negative stimulus.

31. A device comprising, a base unit including a first transceiver, a second receiver, and a third receiver located on a printed circuit board assembly, wherein the first transceiver, the second receiver, and the third receiver are communicatively coupled with at least one processor of the base unit, wherein the base unit comprises a clock that synchronizes communications of the first transceiver, the second receiver, and the third receiver, wherein each of the first transceiver, the second receiver, and the third receiver comprises an upper surface antenna extending from an upper surface of the printed circuit board assembly and a lower surface antenna extending from a lower surface of the printed circuit board assembly, wherein a location of each upper surface antenna on an upper surface of the printed circuit board assembly is mirrored by a location of the corresponding lower surface antenna on the lower surface of the printed circuit board assembly; the transceiver configured to transmit a communication to a transceiver remote to the base unit, wherein the at least one processor is configured to instruct the first transceiver to transmit at least one communication to the remote transceiver; the first transceiver, the second receiver, and the third receiver configured to receive return communications from the remote transceiver in response to the at least one communication through at least one of the corresponding upper surface antenna and the corresponding lower surface antenna, wherein the first transceiver, the second receiver, and the third receiver comprise a triangle; the at least one processor configured to use information of the return communications to determine a first time of flight, wherein the first time of flight comprises the time elapsed between transmission of a return communication of the return communications and the receiving of the return communication by the first transceiver; the at least one processor configured to use the first time of flight to determine a first distance between the first transceiver and the remote transceiver; the at least one processor configured to use the clock to determine a time difference of arrival between the first transceiver receiving the return communication, the second receiver receiving the return communication, and the third receiver receiving the return communication; the at least one processor configured to determine an angular value using information of the time difference of arrival, the relative positioning of the first transceiver, the second receiver, and the third receiver, and signal transmission speed of the return communication, wherein the angular value comprises an angle between a reference direction and an axis, wherein the angular value and the first distance approximate a location of the remote transceiver.